#!/usr/bin/env python
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import sys
from optparse import OptionParser
from rosmaster.master_api import NUM_WORKERS
from roslaunch.nodeprocess import DEFAULT_TIMEOUT_SIGINT, DEFAULT_TIMEOUT_SIGTERM

NAME = 'roscore'

def _get_optparse():

    parser = OptionParser(usage="usage: %prog [options]",
                          prog=NAME,
                          description="roscore will start up a ROS Master, a ROS Parameter Server and a rosout logging node",
                          epilog="See http://wiki.ros.org/roscore"
                          )
    parser.add_option("-p", "--port",
                      dest="port", default=None,
                      help="master port. Only valid if master is launched", metavar="PORT")
    parser.add_option("-v", action="store_true",
                      dest="verbose", default=False,
                      help="verbose printing")
    parser.add_option("-w", "--numworkers",
                      dest="num_workers", default=NUM_WORKERS, type=int,
                      help="override number of worker threads", metavar="NUM_WORKERS")
    parser.add_option("-t", "--timeout",
                      dest="timeout",
                      help="override the socket connection timeout (in seconds).", metavar="TIMEOUT")
    parser.add_option("--master-logger-level",
                      dest="master_logger_level", default=False, type=str,
                      help="set rosmaster.master logger level ('debug', 'info', 'warn', 'error', 'fatal')")
    parser.add_option("--sigint-timeout",
                      dest="sigint_timeout",
                      default=DEFAULT_TIMEOUT_SIGINT, type=float,
                      help="the SIGINT timeout used when killing the core (in seconds).",
                      metavar="SIGINT_TIMEOUT")
    parser.add_option("--sigterm-timeout",
                      dest="sigterm_timeout",
                      default=DEFAULT_TIMEOUT_SIGTERM, type=float,
                      help="the SIGTERM timeout used when killing core if SIGINT does not stop the core (in seconds).",
                      metavar="SIGTERM_TIMEOUT")
    return parser


parser = _get_optparse()
(options, args) = parser.parse_args(sys.argv[1:])

if len(args) > 0:
    parser.error("roscore does not take arguments")


import roslaunch
roslaunch.main(['roscore', '--core'] + sys.argv[1:])
